Electrical Power Systems

ELECENG 4PM4 / ECE 6PM4

Babak Nahid
PhD, HDR, Fellow IEEE
ECE Department
Faculty of Engineering
McMaster University

Contact Info :
Office: ITB A109
Email: [email protected]

Office Hours:
By appointment

Topic 6
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 Course Outline
1. Introduction and Review
2. Topic 1: Transmission Lines
3. Topic 2: Power Flow Studies
4. Topic 3: Symmetrical Faults
5. Topic 4: Symmetrical Components
6. Topic 5: Unsymmetrical Faults
7. Topic 6: Power System Stability
8. Topic 7: Future Grid
9. Conclusion and Wrap-up

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 Topic 6: Power System Stability
6. Power System Stability:
1. Introduction
2. The Swing Equation
3. Solution of the Swing Equation
4. Simplified Synchronous Machine Model
5. Power Stability
6. The Equal-Area Criterion
7. Examples
8. Introduction to Control and Stabilization
9. Summary
 Topic 6: Power System Stability
6. Power System Stability:
1. Introduction
2. The Swing Equation
3. Solution of the Swing Equation
4. Simplified Synchronous Machine Model
5. Power Stability
6. The Equal-Area Criterion
7. Examples
8. Introduction to Control and Stabilization
9. Summary
 Introduction
Power System Stability:

The ability of synchronous machines to move from one steady-state operating point
following a disturbance to another steady-state operating point, without losing
synchronism.

1. Transient: faults and sudden load changes (lasts about 1s) (whether or not the
machines will return to synchronous frequency)
2. Dynamic: faults and sudden load changes (lasts longer, several minutes)
(The action of power system dispatch center to stabilize a power system)

3. Steady-State: slow and gradual changes in operating points

(ensure that bus voltages are close to nominal values, and that generators, transmission
lines, transformers, and other equipment are not overloaded)

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 Introduction
Transient Power System Stability:

▪ Power system transient stability can be modeled

by a number of masses representing
synchronous machines are interconnected by a
network of elastic strings representing
transmission lines.
Introduced by Elgerd
▪ When one of the strings is cut, representing the
loss of a transmission line, the masses undergo
transient oscillations and the forces on the strings
fluctuate.

▪ The system will then either settle down to a new steady-state operating point with
a new set of string forces, or additional strings will break, resulting in an even
weaker network and eventual system collapse.

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 Introduction

Assumptions:

▪ Only balanced three-phase systems and balanced disturbances are

considered. Therefore, only positive-sequence networks are
employed.

▪ Deviations of machine frequencies from synchronous frequency

(60Hz) are small. Therefore, the network of transmission lines,
transformers, and impedance loads is essentially in steady-state.

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 Topic 6: Power System Stability
6. Power System Stability:
1. Introduction
2. The Swing Equation
3. Solution of the Swing Equation
4. Simplified Synchronous Machine Model
5. Power Stability
6. The Equal-Area Criterion
7. Examples
8. Introduction to Control and Stabilization
9. Summary
 The Swing Equation
Generators: Electromechanical power conversion

Electric
Machine
𝑻𝒆
Electrical
Prime
Power
Mover
System
𝑻𝒎
𝑝𝑚 𝑝𝑒
mechanical electrical
power power

electromechanical power
conversion
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 The Swing Equation
Generators: Electromechanical power conversion

Electric
Machine
𝑻𝒆
Electrical
Prime
Power
Mover
System
𝑻𝒎
𝑝𝑚 𝑝𝑒
mechanical electrical
power power

Newton’s law: 𝐽α𝑚 = ෍ 𝑇𝑜𝑟𝑞𝑢𝑒𝑠

moment of rotor
inertia acceleration

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 The Swing Equation
The Swing Equation determines electric machine rotor dynamics:

𝐽 ∙ α𝑚 (𝑡) = 𝑇𝑚 (𝑡) − 𝑇𝑒 (𝑡) = 𝑇𝑎 (𝑡)

rotor
𝐽 = total moment of inertia of the rotating masses [kg.m2] mechanical
α𝑚 = rotor angular acceleration [rad/s2] (= 𝑑ω𝑚 Τ𝑑𝑡 = 𝑑 2 θ𝑚 Τ𝑑𝑡 2 ) angle

𝑇𝑚 = mechanical torque supplied by the prime mover (mechanical losses might

be included in 𝑇𝑚 in some studies) [N.m]
rotor
𝑇𝑚 = (𝑝𝑚 − 𝑝𝑓 )Τω𝑚 mechanical
mechanical angular speed
losses
𝑇𝑒 = electrical torque that accounts for the total three-phase electrical power
output of the generator plus electrical losses [N.m]
𝑇𝑒 = (𝑝𝑒 + 𝑝𝑗 )Τω𝑚

electrical losses
𝑇𝑎 = 𝑇𝑚 − 𝑇𝑒 = net accelerating torque [N.m]
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 The Swing Equation
𝐽 ∙ α𝑚 (𝑡) = 𝑇𝑚 (𝑡) − 𝑇𝑒 (𝑡) = 𝑇𝑎 (𝑡)

• In steady-state:

𝑇𝑚 = 𝑇𝑒 ⟹ 𝑇𝑎 = 0 ⟹ α𝑚 = 0 ⟹ ω𝑚 = 𝑐𝑜𝑛𝑠𝑡.
constant rotor speed called synchronous speed.

• When 𝑇𝑚 > 𝑇𝑒 ⟹ 𝑇𝑎 > 0 ⟹ α𝑚 > 0 ⟹ ω𝑚 ↗

resulting in increasing rotor speed.

• When 𝑇𝑚 < 𝑇𝑒 ⟹ 𝑇𝑎 < 0 ⟹ α𝑚 < 0 ⟹ ω𝑚 ↘

resulting in decreasing rotor speed. Recall:
α𝑚 = 𝑑ω𝑚 Τ𝑑𝑡

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 The Swing Equation
𝐽 ∙ α𝑚 (𝑡) = 𝑇𝑚 (𝑡) − 𝑇𝑒 (𝑡) = 𝑇𝑎 (𝑡)

𝑑2 θ𝑚 (𝑡)
Where: α𝑚 (𝑡) =
𝑑𝑡 2

Let’s define: θ𝑚 𝑡 = ω𝑚𝑠𝑦𝑛 𝑡 + δ𝑚 (𝑡)

ω𝑚𝑠𝑦𝑛 = synchronous mechanical angular speed of the rotor [rad/s]
𝛚𝒔𝒚𝒏 𝟐𝝅𝒇𝒔 frequency of the power system
𝛚𝒎𝒔𝒚𝒏 = = = 𝒄𝒐𝒏𝒔𝒕.
𝑷𝒑 𝑷𝒑
no. of generator pole pairs

Example: For an 8-pole generator (4 pole pairs) and 𝒇𝒔 = 𝟔𝟎 𝑯𝒛:

𝟐𝝅𝒇𝒔 𝟐𝝅𝟔𝟎
𝛚𝒎𝒔𝒚𝒏 = = ≅ 𝟗𝟒. 𝟐𝟓 𝒓𝒂𝒅/𝒔
𝑷𝒑 𝟖Τ𝟐
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 The Swing Equation
𝐽 ∙ α𝑚 (𝑡) = 𝑇𝑚 (𝑡) − 𝑇𝑒 (𝑡) = 𝑇𝑎 (𝑡)

𝑑2 θ𝑚 (𝑡)
Where: α𝑚 (𝑡) =
𝑑𝑡 2

Let’s define: θ𝑚 𝑡 = ω𝑚𝑠𝑦𝑛 𝑡 + δ𝑚 (𝑡)

ω𝑚𝑠𝑦𝑛 = synchronous mechanical angular speed of the rotor [rad/s]

δ𝑚 = rotor angular position with respect to a synchronously rotating

reference [rad]

𝑑 2 θ𝑚 𝑡 𝑑2 δ𝑚 (𝑡)
𝐽∙ 2
=𝐽∙ 2
= 𝑇𝑚 (𝑡) − 𝑇𝑒 (𝑡) = 𝑇𝑎 (𝑡)
𝑑𝑡 𝑑𝑡

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 The Swing Equation
𝐽 ∙ α𝑚 (𝑡) = 𝑇𝑚 (𝑡) − 𝑇𝑒 (𝑡) = 𝑇𝑎 (𝑡)

Now, let’s define: θ 𝑡 = 𝑃𝑝 θ𝑚 𝑡 = ω𝑠𝑦𝑛 𝑡 + δ(𝑡)

1 𝑑2 θ(𝑡)
It yields: α𝑚 (𝑡) = ∙
𝑃𝑝 𝑑𝑡 2
ω𝑠𝑦𝑛 = synchronous angular frequency [rad/s] (= 𝟐𝝅𝒇𝒔 )
δ = electrical position of the rotor with respect to a synchronously rotating
reference, also called “Power Angle” [rad] (= 𝑷𝒑 𝛅𝒎 )

Then, the swing equation can be written as:

𝐽 𝑑2 δ(𝑡)
∙ 2
= 𝑇𝑚 (𝑡) − 𝑇𝑒 (𝑡) = 𝑇𝑎 (𝑡)
𝑃𝑝 𝑑𝑡
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 The Swing Equation
Note: It is recommended to work with power rather than torque, in per-unit:

Multiply the swing equation by 𝛚𝒎 and divide by 𝑺𝒈

𝐽 𝛚𝒎 𝑑 2 δ(𝑡) 𝛚𝒎
∙ ∙ 2
= ∙ 𝑇𝑚 (𝑡) − 𝑇𝑒 (𝑡)
𝑃𝑝 𝑺𝒈 𝑑𝑡 𝑺𝒈

𝛚𝒎 = actual mechanical angular speed of the rotor [rad/s]

𝑺𝒈 = generator rated power [VA]

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 The Swing Equation
Note: It is recommended to work with power rather than torque, in per-unit:

Multiply the swing equation by 𝛚𝒎 and divide by 𝑺𝒈

𝐽 𝛚𝒎 𝑑 2 δ(𝑡) 𝛚𝒎
∙ ∙ 2
= ∙ 𝑇𝑚 (𝑡) − 𝑇𝑒 (𝑡)
𝑃𝑝 𝑺𝒈 𝑑𝑡 𝑺𝒈

𝐽 ω𝑚 𝑑2 δ(𝑡) ω𝑚 ∙ 𝑇𝑚 − ω𝑚 ∙ 𝑇𝑒
⇒ ∙ ∙ 2
=
𝑃𝑝 𝑆𝑔 𝑑𝑡 𝑆𝑔
𝐽 ω𝑚 𝑑2 δ 𝑡 𝑝𝑚 − 𝑝𝑒
Neglecting losses: ⇒ ∙ ∙ 2
≅ = 𝑝𝑚𝑝𝑢 − 𝑝𝑒𝑝𝑢 = 𝑝𝑎𝑝𝑢
𝑃𝑝 𝑆𝑔 𝑑𝑡 𝑆𝑔

𝑝𝑚𝑝𝑢 = mechanical power supplied by the prime mover (minus mechanical losses) [pu]

𝑝𝑒𝑝𝑢 = electrical power output of the generator (plus electrical losses) [pu]

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 The Swing Equation
Let’s introduce 𝐻 defined as normalized inertia constant:

1 𝐽ω2𝑚𝑠𝑦𝑛
𝐻= ∙ [s] or [pu-s]
2 𝑆𝑔

Normally: 1 < 𝐻 < 10 [𝑠]

Therefore, the swing equation can be represented:

2𝐻 ω𝑚 𝑡 𝑑2 δ 𝑡
∙ 2 ∙ 2
= 𝑝𝑚𝑝𝑢 (𝑡) − 𝑝𝑒𝑝𝑢 (𝑡) = 𝑝𝑎𝑝𝑢 (𝑡)
𝑃𝑝 ω𝑚𝑠𝑦𝑛 𝑑𝑡
𝝎𝒎 𝒕 𝝎 𝒕
Defining per-unit rotor angular speed: 𝝎𝒑𝒖 𝒕 ≜ =
𝝎𝒎𝒔𝒚𝒏 𝝎𝒔𝒚𝒏
ω𝑝𝑢 𝑡 𝑑 2 δ 𝑡
So: 2𝐻 ∙ ∙ 2
= 𝑝𝑚𝑝𝑢 (𝑡) − 𝑝𝑒𝑝𝑢 (𝑡) = 𝑝𝑎𝑝𝑢 (𝑡)
ω𝑠𝑦𝑛 𝑑𝑡
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 The Swing Equation
The per-unit swing equation:

2𝐻 𝑑2δ 𝑡
∙ ω𝑝𝑢 𝑡 ∙ 2
= 𝑝𝑚𝑝𝑢 (𝑡) − 𝑝𝑒𝑝𝑢 (𝑡) = 𝑝𝑎𝑝𝑢 (𝑡)
ω𝑠𝑦𝑛 𝑑𝑡

2
1 𝐽ω𝑚𝑠𝑦𝑛
𝐻= ∙ (normalized inertia constant)
2 𝑆𝑔
generator rated power
no. of generator pole pairs
ω𝑠𝑦𝑛 = 𝑃𝑝 ω𝑚𝑠𝑦𝑛 = 2𝜋𝑓𝑠 Recall:
δ = rotor angular position [rad] δ 𝑡 = θ 𝑡 − ω𝑠𝑦𝑛 𝑡

𝑝𝑚𝑝𝑢 = mechanical power supplied by the prime mover [pu]

𝑝𝑒𝑝𝑢 = electrical power output of the generator [pu]

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 The Swing Equation
Note: The per-unit swing equation is a nonlinear differential equation due to the term
𝛚𝒑𝒖 𝒕 ∙ 𝒅𝟐 𝛅 𝒕 Τ𝒅𝒕𝟐 .

To solve the differential equation, either we assume ω𝑝𝑢 has negligible variation in the time
interval of interest (ω𝑝𝑢 ≅ 𝑐𝑜𝑛𝑠𝑡.), or we make a change of variable:

𝑊 𝑡 = ω2𝑝𝑢 𝑡
𝑑 𝑑
⇒ 𝑊 𝑡 = 2ω𝑝𝑢 𝑡 ∙ ω𝑝𝑢 𝑡
𝑑𝑡 𝑑𝑡
Recall:
𝑑 ω 𝑡 𝑑 ω 𝑡
⇒ 𝑊 𝑡 =2 ∙ 𝜔 𝑡
𝑑𝑡 ω𝑠𝑦𝑛 𝑑𝑡 ω𝑠𝑦𝑛 𝜔𝑝𝑢 𝑡 ≜
𝜔𝑠𝑦𝑛

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 The Swing Equation
Note: The per-unit swing equation is a nonlinear differential equation due to the term
𝛚𝒑𝒖 𝒕 ∙ 𝒅𝟐 𝛅 𝒕 Τ𝒅𝒕𝟐 .

To solve the differential equation, either we assume ω𝑝𝑢 has negligible variation in the time
interval of interest (ω𝑝𝑢 ≅ 𝑐𝑜𝑛𝑠𝑡.), or we make a change of variable:

𝑊 𝑡 = ω2𝑝𝑢 𝑡
With:
𝑑
ω 𝑡 = θ 𝑡 𝑑 𝑑2δ 𝑡
𝑑𝑡 ቋ⇒ ω 𝑡 = Recall:
θ 𝑡 = ω𝑠𝑦𝑛 𝑡 + δ(𝑡) 𝑑𝑡 𝑑𝑡 2
𝜔 𝑡
𝑑 𝜔𝑝𝑢 𝑡 ≜
𝜔𝑠𝑦𝑛
⇒ δ 𝑡 = ω 𝑡 − ω𝑠𝑦𝑛
𝑑𝑡
𝑑
⇒ δ 𝑡 = ω𝑠𝑦𝑛 ∙ ω𝑝𝑢 𝑡 − 1
𝑑𝑡

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 The Swing Equation
The per-unit swing equation: Summary
1) 2nd–order differential equation:
ω𝑝𝑢 (𝑡) 𝑑2 δ 𝑡
2𝐻 ∙ ∙ 2
= 𝑝𝑚𝑝𝑢 (𝑡) − 𝑝𝑒𝑝𝑢 (𝑡)
ω𝑠𝑦𝑛 𝑑𝑡
1 𝑑
with: ω𝑝𝑢 𝑡 = 1 + δ 𝑡
ω𝑠𝑦𝑛 𝑑𝑡

2) System of two 1st–order differential equations:

𝑑
𝐻 ∙ 𝑊 𝑡 = 𝑝𝑚𝑝𝑢 (𝑡) − 𝑝𝑒𝑝𝑢 (𝑡)
𝑑𝑡
𝑑
δ 𝑡 = ω𝑠𝑦𝑛 ∙ 𝑊(𝑡) − 1
𝑑𝑡
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 Topic 6: Power System Stability
6. Power System Stability:
1. Introduction
2. The Swing Equation
3. Solution of the Swing Equation
4. Simplified Synchronous Machine Model
5. Power Stability
6. The Equal-Area Criterion
7. Examples
8. Introduction to Control and Stabilization
9. Summary
 Solution of the Swing Equation
Power angle δ 𝑡 is the solution of the Swing Equation.

To solve the swing equation:

1) Approximative solution: assume ω𝑝𝑢 (𝑡) has negligible variation in the time interval of
interest (ω𝑝𝑢 𝑡 ≅ ω𝑝𝑢 = 𝑐𝑜𝑛𝑠𝑡.):
ω𝑝𝑢 𝑑2 δ 𝑡
2𝐻 ∙ ∙ 2
= 𝑝𝑚𝑝𝑢 (𝑡) − 𝑝𝑒𝑝𝑢 (𝑡)
ω𝑠𝑦𝑛 𝑑𝑡

2) Accurate solution: make a change of variable: 𝑊 𝑡 = ω2

𝑝𝑢 𝑡

𝑑
𝐻 ∙ 𝑊 𝑡 = 𝑝𝑚𝑝𝑢 (𝑡) − 𝑝𝑒𝑝𝑢 (𝑡)
𝑑𝑡
𝑑 Recall:
δ 𝑡 = ω𝑠𝑦𝑛 ∙ 𝑊(𝑡) − 1 ω 𝑡 = ω𝑠𝑦𝑛 ∙ ω𝑝𝑢 𝑡
𝑑𝑡

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 Example 1: Solution of the Swing Equation
Example 1: A three-phase, 60-Hz, 500-MVA, 15-kV, 32-pole hydroelectric generating unit has
an H constant of 2.0 pu-s.

(a) Determine ω𝑠𝑦𝑛 and ω𝑚𝑠𝑦𝑛 .

(b) Give the per-unit swing equation for this unit.
(c) The unit is initially operating at:
𝑝𝑚𝑝𝑢 = 𝑝𝑒𝑝𝑢 = 1, ω = ω𝑠𝑦𝑛 , and δ = 10° = 𝑐𝑜𝑛𝑠𝑡.
when a three phase-to-ground bolted short-circuit at the generator terminals causes
𝑝𝑒𝑝𝑢 (𝑡) = 0 for 𝑡 ≥ 0.
Determine the power angle δ 3 cycles after the short-circuit commences.
Assume 𝑝𝑚𝑝𝑢 (𝑡) = 1 for 𝑡 ≥ 0.

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 Example 1: Solution of the Swing Equation
A three-phase, 60-Hz, 500-MVA, 15-kV, 32-pole hydroelectric generating unit has an H constant
of 2.0 pu-s.

(a) Determine ω𝑠𝑦𝑛 and ω𝑚𝑠𝑦𝑛 .

For a 60-Hz generator: ω𝑠𝑦𝑛 = 2𝜋60 = 377 𝑟𝑎𝑑/𝑠

For a 32-pole generator: 𝑃𝑝 = 32Τ2 = 16

ω𝑠𝑦𝑛
⇒ ω𝑚𝑠𝑦𝑛 = = 23.56 𝑟𝑎𝑑/𝑠
𝑃𝑝

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 Example 1: Solution of the Swing Equation
A three-phase, 60-Hz, 500-MVA, 15-kV, 32-pole hydroelectric generating unit has an H constant
of 2.0 pu-s.

(b) Give the per-unit swing equation for this unit.

2𝐻 𝑑2 δ 𝑡
∙ ω𝑝𝑢 𝑡 ∙ 2
= 𝑝𝑚𝑝𝑢 (𝑡) − 𝑝𝑒𝑝𝑢 (𝑡)
ω𝑠𝑦𝑛 𝑑𝑡

4 𝑑2δ 𝑡
⇒ ∙ ω𝑝𝑢 𝑡 ∙ 2
= 𝑝𝑚𝑝𝑢 (𝑡) − 𝑝𝑒𝑝𝑢 (𝑡)
2𝜋60 𝑑𝑡

1 𝑑2 δ 𝑡
⇒ ∙ ω𝑝𝑢 𝑡 ∙ 2
= 𝑝𝑚𝑝𝑢 (𝑡) − 𝑝𝑒𝑝𝑢 (𝑡)
30𝜋 𝑑𝑡

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 Example 1: Solution of the Swing Equation
A three-phase, 60-Hz, 500-MVA, 15-kV, 32-pole hydroelectric generating unit has an H constant
of 2.0 pu-s.

(c) Initial conditions: 𝑝𝑚𝑝𝑢 = 𝑝𝑒𝑝𝑢 = 1, ω = ω𝑠𝑦𝑛 , and δ 0 = 10° = 𝑐𝑜𝑛𝑠𝑡.

Then: 𝑝𝑒𝑝𝑢 (𝑡) = 0 and 𝑝𝑚𝑝𝑢 (𝑡) = 1 for 𝑡 ≥ 0.
Determine the power angle δ(3𝑇𝑠 ). (𝑇𝑠 = 1Τ𝑓𝑠 = 1Τ60 𝑠)

1st solution: ω𝑝𝑢 assumed constant

ω
ω𝑝𝑢 = = 1.0 𝑝𝑢
ω𝑠𝑦𝑛

1 𝑑2δ 𝑡
⇒ ∙ 1.0 ∙ 2
= 𝑝𝑚𝑝𝑢 𝑡 − 𝑝𝑒𝑝𝑢 𝑡 = 1 − 0 = 1 𝑡 ≥ 0
30𝜋 𝑑𝑡

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 Example 1: Solution of the Swing Equation
(c) Initial conditions: 𝑝𝑚𝑝𝑢 = 𝑝𝑒𝑝𝑢 = 1, ω = ω𝑠𝑦𝑛 , and δ 0 = 10° = 𝑐𝑜𝑛𝑠𝑡.
Then: 𝑝𝑒𝑝𝑢 (𝑡) = 0 and 𝑝𝑚𝑝𝑢 (𝑡) = 1 for 𝑡 ≥ 0.
Determine the power angle δ(3𝑇𝑠 ). (𝑇𝑠 = 1Τ𝑓𝑠 = 1Τ60 𝑠)

1st solution: ω𝑝𝑢 assumed constant

𝑑2δ 𝑡
⇒ 2
= 30𝜋 𝑡 ≥ 0
𝑑𝑡
𝑑δ 𝑡
⇒ = 30𝜋 ∙ 𝑡 + 0 𝑡 ≥ 0
𝑑𝑡
⇒ δ 𝑡 = 15𝜋 ∙ 𝑡 2 + δ(0) 𝑡 ≥ 0
⇒ δ 3𝑇𝑠 = 15𝜋 ∙ 0.05 2 + 0.1745
⇒ δ 3𝑇𝑠 = 0.2923 𝑟𝑎𝑑 = 16.75°
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 Example 1: Solution of the Swing Equation
(c) Initial conditions: 𝑝𝑚𝑝𝑢 = 𝑝𝑒𝑝𝑢 = 1, ω = ω𝑠𝑦𝑛 , and δ 0 = 10° = 𝑐𝑜𝑛𝑠𝑡.
Then: 𝑝𝑒𝑝𝑢 (𝑡) = 0 and 𝑝𝑚𝑝𝑢 (𝑡) = 1 for 𝑡 ≥ 0.
Determine the power angle δ(3𝑇𝑠 ). (𝑇𝑠 = 1Τ𝑓𝑠 = 1Τ60 𝑠)

2nd solution: variable change 𝑊 𝑡 = ω2𝑝𝑢 𝑡 ⇒ 𝑊 0 = ω2𝑝𝑢 0 = 1

𝑑
2 𝑊 𝑡 = 𝑝𝑚𝑝𝑢 𝑡 − 𝑝𝑒𝑝𝑢 𝑡 = 1 − 0 = 1 𝑡 ≥ 0
𝑑𝑡
𝑑 1
⇒ 𝑊 𝑡 = 𝑡≥0
𝑑𝑡 2
𝑡
⇒𝑊 𝑡 = +𝑊 0 𝑡 ≥0
2
𝑡
⇒𝑊 𝑡 = +1 𝑡 ≥0
2
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 Example 1: Solution of the Swing Equation
(c) Initial conditions: 𝑝𝑚𝑝𝑢 = 𝑝𝑒𝑝𝑢 = 1, ω = ω𝑠𝑦𝑛 , and δ 0 = 10° = 𝑐𝑜𝑛𝑠𝑡.
Then: 𝑝𝑒𝑝𝑢 (𝑡) = 0 and 𝑝𝑚𝑝𝑢 (𝑡) = 1 for 𝑡 ≥ 0.
Determine the power angle δ(3𝑇𝑠 ). (𝑇𝑠 = 1Τ𝑓𝑠 = 1Τ60 𝑠)

2nd solution: variable change 𝑊 𝑡 = ω2𝑝𝑢 𝑡 ⇒ 𝑊 0 = ω2𝑝𝑢 0 = 1

𝑡
𝑊 𝑡 = +1 𝑡 ≥0
2
𝑑
δ 𝑡 = ω𝑠𝑦𝑛 ∙ 𝑊 𝑡 − 1 = 2𝜋60 ∙ 1 + 𝑡 Τ2 − 1 𝑡≥0
𝑑𝑡
3Τ2
⇒ δ 𝑡 = 160𝜋 ∙ 1 + 𝑡 Τ2 − 1 − 120𝜋 ∙ 𝑡 + δ 0 𝑡≥0

⇒ δ 3𝑇𝑠 = 0.2918 𝑟𝑎𝑑 = 16.72°

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30
 Example 1: Solution of the Swing Equation
(c) Initial conditions: 𝑝𝑚𝑝𝑢 = 𝑝𝑒𝑝𝑢 = 1, ω = ω𝑠𝑦𝑛 , and δ 0 = 10° = 𝑐𝑜𝑛𝑠𝑡.
Then: 𝑝𝑒𝑝𝑢 (𝑡) = 0 and 𝑝𝑚𝑝𝑢 (𝑡) = 1 for 𝑡 ≥ 0.
Determine the power angle δ(3𝑇𝑠 ). (𝑇𝑠 = 1Τ𝑓𝑠 = 1Τ60 𝑠)

Comparison:

ω𝑝𝑢 (𝑡) [𝑝𝑢] δ(t) [°]

t [𝑠] t [𝑠]
3𝑇𝑠 3𝑇𝑠

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31
 Example 1: Solution of the Swing Equation

ω𝑝𝑢 (𝑡) [𝑝𝑢] δ(t) [°]

𝐻 = 0.2

𝐻 = 0.2

t [𝑠] t [𝑠]

ω𝑝𝑢 (𝑡) [𝑝𝑢] δ(t) [°]

𝐻 = 10

𝐻 = 10

t [𝑠] t [𝑠]
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 Topic 6: Power System Stability
6. Power System Stability:
1. Introduction
2. The Swing Equation
3. Solution of the Swing Equation
4. Simplified Synchronous Machine Model
5. Power Stability
6. The Equal-Area Criterion
7. Examples
8. Introduction to Control and Stabilization
9. Summary
 Simplified Synchronous Machine Model and System

Assume a synchronous generator connected to an infinite bus through a transmission line:

pe 𝐸′𝑒 𝑗𝛿 − 𝑉𝑏𝑢𝑠
X d X
𝐼𝑔 𝐼𝑔 =
𝑗𝑋𝑒𝑞
Vt Vbus 0 transmission
E  
line reactance
With:
Synchronous Power System 𝑋𝑒𝑞 = 𝑋′𝑑 + 𝑋
generator equivalent
transient reactance
of the generator
Power delivered to the infinite bus:
𝐸 ′ 𝑒 −𝑗𝛿 − 𝑉 𝐸 ′∙𝑉
𝑏𝑢𝑠 𝑏𝑢𝑠
𝑆𝑒 = 𝑉𝑏𝑢𝑠 ∙ 𝐼𝑔∗ = 𝑉𝑏𝑢𝑠 ∙ ⇒ 𝑝𝑒 = 𝑅𝑒 𝑆𝑒 = ∙ 𝑠𝑖𝑛 δ
−𝑗𝑋𝑒𝑞 𝑋𝑒𝑞

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34
 Simplified Synchronous Machine Model and System

Assume a synchronous generator connected to an infinite bus through a transmission line:

pe
X d 𝐼𝑔 X

E   Vt Vbus 0 𝑋𝑒𝑞 = 𝑋′𝑑 + 𝑋

Synchronous Power System

generator equivalent 1.2

PMAX 1

It yields: 𝑝𝑒 = 𝑃𝑀𝐴𝑋 ∙ 𝑠𝑖𝑛 δ 0.8

0.6

𝐸 ′ ∙ 𝑉𝑏𝑢𝑠 0.4

𝑃𝑀𝐴𝑋 =
𝑋𝑒𝑞 0.2

0
0 30 60 90 120 150 180 δ
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35
 Simplified Synchronous Machine Model and System

Assume a synchronous generator connected to an infinite bus through a transmission line:

pe Real power delivered to

X d 𝐼𝑔 X
the power system at the
generator terminals:
E   Vt Vbus 0
𝑆𝑔 = 𝑉𝑡 ∙ 𝐼𝑔∗

Synchronous Power System 𝑉𝑡 = 𝑉𝑏𝑢𝑠 + 𝑗𝑋𝐼𝑔

generator equivalent

2
⇒ 𝑆𝑔 = 𝑉𝑏𝑢𝑠 + 𝑗𝑋𝐼𝑔 ∙ 𝐼𝑔∗ = 𝑉𝑏𝑢𝑠 ∙ 𝐼𝑔∗ + 𝑗𝑋𝐼𝑔 ∙ 𝐼𝑔∗ = 𝑆𝑒 + 𝑗𝑋 𝐼𝑔
⇒ 𝑅𝑒 𝑆𝑔 = 𝑅𝑒 𝑆𝑒 = 𝑝𝑒

⇒ Reactance 𝑋 affects only the reactive power.

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36
 Example 2: Simplified Synchronous Generator Model
Example 2: Synchronous Generator Model

X TR = 0.1

X d = 0.3 Vbus = 1.0

If the infinite bus receives 1.0 pu real power at 0.95 PF lagging. Determine:

a) The internal voltage of the generator

b) The equation for the electrical power delivered by the generator versus its
power angle δ.

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37
 Example 2: Simplified Synchronous Generator Model
Equivalent model of the system:

X d = 0.3

E  Vbus = 1.0

𝑝𝑒𝑝𝑢 = 1.0 at 𝑃𝑓 = 0.95 lagging

a) The internal voltage of the generator

𝑝𝑒𝑝𝑢 1.0
𝑝𝑒𝑝𝑢 = 𝑉𝑏𝑢𝑠 ∙ 𝐼𝑔 ∙ cos φ ⇒ 𝐼𝑔 = = = 1.053 𝑝𝑢
𝑉𝑏𝑢𝑠 ∙ 𝑃𝑓 1.0 × 0.95

cos φ = 𝑃𝑓 = 0.95 ⇒ φ = 0.318 𝑟𝑎𝑑 = 18.2°

𝐼𝑔 = 𝐼𝑔 ∠ − φ = 1.053∠ − 18.2° = 1.0 − 𝑗0.329 𝑝𝑢

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38
 Example 2: Simplified Synchronous Generator Model
Equivalent model of the system:

X d = 0.3

E  Vbus = 1.0

𝑝𝑒𝑝𝑢 = 1.0 at 𝑃𝑓 = 0.95 lagging

a) The internal voltage of the generator

𝑋𝑒𝑞 = 0.3 + 0.1 + 0.2 ∥ 0.1 + 0.2 = 0.52 𝑝𝑢

𝐸𝑔 = 𝐸 ′ ∠δ = 𝑗𝑋𝑒𝑞 ∙ 𝐼𝑔 + 𝑉𝑏𝑢𝑠 = 𝑗0.52 × 1.0 − 𝑗0.329 + 1.0 = 1.17 + 𝑗0.52

𝐸𝑔 = 𝐸 ′ ∠δ = 1.281∠23.95° 𝑝𝑢

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39
 Example 2: Simplified Synchronous Generator Model
b) The equation for the electrical power delivered by the generator versus its power angle δ.

𝐸 ′ ∙ 𝑉𝑏𝑢𝑠 1.281 × 1.0

𝑃𝑀𝐴𝑋 = = = 2.464 𝑝𝑢
𝑋𝑒𝑞 0.52

𝑝𝑒𝑝𝑢 = 𝑃𝑀𝐴𝑋 ∙ 𝑠𝑖𝑛 δ = 2.464 𝑠𝑖𝑛 δ

𝑝𝑒𝑝𝑢 [𝑝𝑢]

≅ 24° δ [°]
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 EE4PM4: Electrical Power Systems

▪ Course Website:
http://avenue.mcmaster.ca/

▪ Please send your questions/appointment requests to:

[email protected]
with subject:
4PM4 question/appointment

Teaching Assistants:
Arta Mohammad Alikhani Francisco Juarez-Leon Jingru Yang
[email protected] [email protected] [email protected]